W = move quadrotor in positive x

S = move quadrotor in negative x

X position is 0

A = move quadrotor in positive y

D = move quadrotor in negative y

Y position is 0

Q = move quadrotor in positive z

E = move quadrotor in negative z

Z position is 0

R = rotate quadrotor about positive Euler Z rotation

F = rotate quadrotor about negative Euler Z rotation

Euler Z rotation is 0

T = rotate quadrotor about positive Euler Y rotation

F = rotate quadrotor about negative Euler Y rotation

Euler Y rotation is 0

Y = rotate quadrotor about positive Euler X rotation

F = rotate quadrotor about negative Euler X rotation

Euler Xvrotation is 0